CN105892322A - Intelligent controller and self-tuning method - Google Patents
Intelligent controller and self-tuning method Download PDFInfo
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- CN105892322A CN105892322A CN201610315546.5A CN201610315546A CN105892322A CN 105892322 A CN105892322 A CN 105892322A CN 201610315546 A CN201610315546 A CN 201610315546A CN 105892322 A CN105892322 A CN 105892322A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a self-tuning method of an intelligent controller. A deviation value (SV-m) is set below a control target value SV to prevent oscillation of system output wave nearby the target value SV or the deviation value (SV-m) in the self-tuning process; excitation applied to a controlled object is stopped when the system sampling value PV is greater than the target value SV, thus ensuring that the system output wave can reach the control target value SV all the time, and the PID control parameter calculated by the controller is more accurate; in addition, in the self-tuning method, no matter how the initial state of the system is, a working condition signal is acquired first, and whether excitation is applied to the controlled object is determined by comparing the acquired value PV with the deviation value (SV-m), that is, working condition judgment is prior to control output, so that overshoot is effectively prevented and industrial accidents are avoided.
Description
Technical field
The present invention relates to the automation control area of industrial process, particularly relate to a kind of intelligent controller and automatic setting method.
Background technology
Conventional industrial control unit (ICU) is mainly used in realizing the control of industry signal such as temperature, pressure, liquid level, flow etc..During control, controller controls parameter such as proportional band (P), the time of integration (I), derivative time (D) by the deviation size of collection value with the desired value of setting being substituted into, to be calculated output control signal, and flow to executing agency in real time, finally make industry signal constant be scheduled in control desired value.In Industry Control, because control object is various, operating mode is complicated, when its control parameter is difficult to obtain anxious, adjust accurately, conventional practice often needs operative employee on the basis of good understanding controls meaning of parameters, constantly regulates test with its enough commissioning experience, and collection signal constant just can be made to be scheduled in control desired value, it is high to artificial requirement threshold, debugging complexity.
Existing minority Industry Control uses the industrial control unit (ICU) with self-setting function, this kind of regulator self-settling method is substantially, at the upper and lower controlling desired value, up-and-down boundary is set, the tolerance interval of one sampled value is i.e. set, afterwards control object is applied excitation, and the lower border value of collection value Yu tolerance interval is compared judgement, when collection value is more than the lower border value of tolerance interval, stop the excitation to control object to apply, system for the treatment of is because inertia is close to desired value and finally falls after rise, when collection value is less than the lower border value of tolerance interval, again control object is applied excitation, after so repeating a circulation, the its corresponding output characteristic of excitation according to aforementioned applying, calculate corresponding pid control parameter.nullThe automatic setting method of above-mentioned industrial control unit (ICU)，It is provided with the tolerance interval of sampled value，Controller judges the boundary's point that whether applies of the excitation lower border value as tolerance interval，Sampled value is less than the lower border value of tolerance interval，Control object is applied excitation，Sampled value is more than the lower border value of tolerance interval，Stop the excitation to control object to apply，So，System output wave easily shakes at the lower border value of tolerance interval back and forth，And the normal characteristic of system cannot be caught，And in quick-reaction system (be such as rapidly heated system)，Control desired value easily it is unable to reach according to its output wave crest of system inertia，In the case of this kind，Not accurate enough according to the pid control parameter encouraging its corresponding output characteristic to calculate，In this automatic setting method another，Judge again after first control object being applied excitation，Control output and have precedence over operating mode judgement，When system initial state value alreadys more than desired value，This not only can make the cycle of Self-tuning System process lengthen，And much operating mode does not allow overshoot too much，Easily there is industrial accident.
Summary of the invention
The purpose of the present invention one is to provide the automatic setting method of a kind of intelligent controller.
The automatic setting method of a kind of intelligent controller, comprises the steps:
1) determine system output objectives value SV and be positioned at the deviation value (SV-m) below desired value SV, adjust beginning, collection is worth PV and compares judgement with deviation value (SV-m): if collection value PV is less than deviation value (SV-m), then send and open control output signal, control object is applied excitation, entrance is adjusted the first step, and waiting system output wave rises；If collection value PV is more than deviation value (SV-m), then send closing control output signal, control object is not applied excitation, treat that system output wave declines, when collection value PV is less than deviation value (SV-m), retransmits and open control output signal, control object is applied excitation, entrance is adjusted the first step, and waiting system output wave rises；
2) when collection value PV is more than desired value SV, then sending closing control output signal, control object is not applied excitation, enter second step of adjusting, waiting system output wave declines after reaching a crest；
3) when collection value PV is less than deviation value (SV-m), then sending and open control output signal, control object is applied excitation, enter the 3rd step of adjusting, waiting system output wave rises after reaching a trough；
4) when collection value PV is more than desired value SV, then sending closing control output signal, control object is not applied excitation, enter the 4th step of adjusting, waiting system output wave drops to deviation value (SV-m) after reaching crest again；
5) according to its corresponding output characteristic of excitation applied, calculating system pid control parameter according to formula, Self-tuning System terminates.
Further, the m in deviation value (SV-m) is unit collection value.As in temperature control system, m is 1 DEG C, and in this setting method, m is used as to control return difference, returning to shake near desired value with system output wave during preventing Self-tuning System, m is excessive, and the pid control parameter of calculating is not accurate enough, and m is too small, system output wave concussion severity, therefore, m be unit collection value be preferable.
Further, time t1 and t2 that the corresponding valley PVmin of system output wave in phase adjacent two steps and peak value PVmax adjusted in record and two steps adjacent to the phase of should adjusting are used, the formula of calculating system pid control parameter time institute foundation is P=(PVmax-PVmin)/A, I=B × t1 × t2/(t1+
T2), D=C × t1 × t2/(t1+ t2), wherein A, B, C are respectively controlled system fixed coefficient.This formula parameter is few and calculates simple, and separately its accuracy in computation is high.
Further, the valley PVmin and peak value PVmax of record respectively adjust the 3rd step and the collection value of the 4th step of adjusting, and accordingly, time t1 and t2 respectively adjusts the 3rd step and the time of the 4th whole process of step of adjusting.Generally maximum with the span of the 4th step in the 3rd step of adjusting due to system output wave amplitude of vibration, use the valley PVmin and peak value PVmax of this two step to calculate pid control parameter the most accurate.
The purpose of the present invention two is to provide a kind of intelligent controller.
nullA kind of intelligent controller，Including controller circuitry and power supply thereof，Described controller circuitry includes controlling processing module、And the key-press module electrically connected with control processing module respectively、Acquisition module、Display module、Memory、Control output module、First timer、Second timer sum counter，This industry signal is also sent to controlling processing module by described acquisition module collection industry signal，Control processing module the transmission of this collection value PV to be shown to display module，And enter to compare with system input desired value SV inputted by key-press module and deviation value (SV-m) by this collection value PV，According to comparative result，Control processing module and send dependent instruction to controlling output module，In tuning process，Counter records is adjusted step number，Described control processing module is according to the step number of adjusting of counter records，Control instruction is sent successively to described first timer and the second timing，Described first timer and the second timing record time t1 and t2 that the phase of adjusting adjacent two steps are used respectively，Control the valley PVmin and peak value PVmax of the system output wave that acquisition module is collected in adjacent two steps of above-mentioned phase of adjusting by processing module、And time t1 and t2 that two steps adjacent to the phase of should adjusting are used is stored in memory respectively，Control processing module by the valley PVmin collected in reading adjacent two steps in memory and peak value PVmax、And time t1 and t2 that this phase of adjusting adjacent two steps are used，Calculating system pid control parameter.
nullThe automatic setting method of intelligent controller of the present invention，It is provided with deviation value (SV-m) in the lower section controlling desired value SV，Wherein m is used as to control return difference，Controller concludes that the boundary's point whether excitation applies is respectively desired value SV and deviation value (SV-m)，And the most only it is desired value SV or deviation value (SV-m)，This effectively prevents system output wave concussion near desired value SV or deviation value (SV-m) during Self-tuning System，And systematic sampling value PV is more than desired value SV，Just stop the excitation to control object to apply，The system output wave of ensure that can reach control desired value SV all the time，The pid control parameter that controller calculates is more accurate，This automatic setting method another，No matter system initial state，It is all first to gather working condition signal，Comparison further according to collection value PV Yu deviation value (SV-m)，Judge to determine whether control object is applied excitation，Its operating mode i.e. judges to have precedence over control output，Effectively prevent the appearance of overshoot condition，Avoid the generation of industrial accident.
Accompanying drawing explanation
Fig. 1 is the flow chart of the better embodiment of the automatic setting method of intelligent controller of the present invention；
Fig. 2 is the structural representation of intelligent controller of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the better embodiment of intelligent controller of the present invention and automatic setting method is described in detail:
As it is shown in figure 1, the automatic setting method of intelligent controller of the present invention, comprise the steps:
1) determine in the control system of industrial temperature system output objectives value SV and be positioned at the deviation value (SV-1) below desired value SV, adjust beginning, collection is worth PV and compares judgement with deviation value (SV-1): if collection value PV is less than deviation value (SV-1), then send and open control output signal, control object is applied excitation, entrance is adjusted the first step, and waiting system output wave rises；If collection value PV is more than deviation value (SV-1), then send closing control output signal, control object is not applied excitation, treat that system output wave declines, when collection value PV is less than deviation value (SV-1), retransmits and open control output signal, control object is applied excitation, entrance is adjusted the first step, and waiting system output wave rises；
2) when collection value PV is more than desired value SV, then sending closing control output signal, control object is not applied excitation, enter second step of adjusting, waiting system output wave declines after reaching a crest；
3) when collection value PV is less than deviation value (SV-1), then send and open control output signal, control object is applied excitation, entrance is adjusted the 3rd step, waiting system output wave reaches to rise after a trough, and records the valley PVmin of the 3rd step system output wave of adjusting and time t1 that this step is used；
4) when collection value PV is more than desired value SV, then send closing control output signal, control object is not applied excitation, entrance is adjusted the 4th step, waiting system output wave drops to deviation value (SV-1) after reaching crest again, and records the peak value PVmax of the 4th step system output wave of adjusting and time t2 that this step is used；
5) according to its corresponding output characteristic of excitation applied, according to formula P=(PVmax-PVmin)/A, I=B × t1 × t2/(t1+ t2), D=C × t1 × t2/(t1+ t2) and calculate system pid control parameter, Self-tuning System terminates, and in its Chinese style, A, B, C are respectively controlled system fixed coefficient.
nullThe automatic setting method of intelligent controller of the present invention，It is provided with deviation value (SV-m) in the lower section controlling desired value SV，Excellent take ground，M takes unit collection value (i.e. m is 1)，It is used as to control return difference，Controller concludes that the boundary's point whether excitation applies is respectively desired value SV and deviation value (SV-m)，And the most only it is desired value SV or deviation value (SV-m)，This effectively prevents system output wave concussion near desired value SV or deviation value (SV-m) during Self-tuning System，And systematic sampling value PV is more than desired value SV，Just stop the excitation to control object to apply，The system output wave of ensure that can reach control desired value SV all the time，The pid control parameter that controller calculates is more accurate，This automatic setting method another，No matter system initial state，It is all first to gather working condition signal，Comparison further according to collection value PV Yu deviation value (SV-m)，Judge to determine whether control object is applied excitation，Its operating mode i.e. judges to have precedence over control output，Effectively prevent the appearance of overshoot condition，Avoid the generation of industrial accident.
The automatic setting method of intelligent controller of the present invention, when the control system of industrial temperature, for the system of being rapidly heated, system fixed coefficient A=0.33, B=3.2, C=0.8, for temperature elevation system at a slow speed, system fixed coefficient A=0.25, B=2, C=2.
Present invention also offers a kind of intelligent controller.
nullAs shown in Figure 2，Intelligent controller of the present invention，Including controller circuitry 10 and power supply 20 thereof，Described controller circuitry 10 includes controlling processing module 1、And the key-press module 2 electrically connected with control processing module 1 respectively、Acquisition module 3、Display module 4、Memory 5、Control output module 6、First timer 7、Second timer 8 sum counter 9，Described acquisition module 3 gathers industry signal and sends this industry signal to controlling processing module 1，Control processing module 1 transmission of this collection value PV to be shown to display module 4，And enter to compare with system input desired value SV inputted by key-press module 2 and deviation value (SV-1) by this collection value PV，According to comparative result，Control processing module 1 and send dependent instruction to controlling output module 6，In tuning process，Counter 9 records step number of adjusting，The step number of adjusting that described control processing module 1 records according to counter 9，Control instruction is sent successively to described first timer 7 and the second timing 8，Described first timer 7 and the second timing 8 record time t1 and t2 that phase of adjusting adjacent two steps are used respectively，Control the valley PVmin and peak value PVmax of the system output wave that acquisition module 3 is collected in adjacent two steps of above-mentioned phase of adjusting by processing module 1、And time t1 and t2 that two steps adjacent to the phase of should adjusting are used is stored in memory 5 respectively，Control processing module 1 by reading the valley PVmin collected in adjacent two steps and peak value PVmax in memory 5、And time t1 and t2 that this phase of adjusting adjacent two steps are used，Calculating system pid control parameter.
Intelligent controller of the present invention, uses each basic and mature modules, its simple in construction, low cost, automatically obtains Industry Control parameter PID, and control accuracy is high.
Claims (5)
1. the automatic setting method of an intelligent controller, it is characterised in that: comprise the steps:
1) determine system output objectives value SV and be positioned at the deviation value (SV-m) below desired value SV, adjust beginning, collection is worth PV and compares judgement with deviation value (SV-m): if collection value PV is less than deviation value (SV-m), then send and open control output signal, control object is applied excitation, entrance is adjusted the first step, and waiting system output wave rises；If collection value PV is more than deviation value (SV-m), then send closing control output signal, control object is not applied excitation, treat that system output wave declines, when collection value PV is less than deviation value (SV-m), retransmits and open control output signal, control object is applied excitation, entrance is adjusted the first step, and waiting system output wave rises；
2) when collection value PV is more than desired value SV, then sending closing control output signal, control object is not applied excitation, enter second step of adjusting, waiting system output wave declines after reaching a crest；
3) when collection value PV is less than deviation value (SV-m), then sending and open control output signal, control object is applied excitation, enter the 3rd step of adjusting, waiting system output wave rises after reaching a trough；
4) when collection value PV is more than desired value SV, then sending closing control output signal, control object is not applied excitation, enter the 4th step of adjusting, waiting system output wave drops to deviation value (SV-m) after reaching crest again；
5) according to its corresponding output characteristic of excitation applied, calculating system pid control parameter according to formula, Self-tuning System terminates.
The automatic setting method of intelligent controller the most according to claim 1, it is characterised in that: the m in deviation value (SV-m) is unit collection value.
The automatic setting method of intelligent controller the most according to claim 1, it is characterized in that: time t1 and t2 that the corresponding valley PVmin of system output wave in phase adjacent two steps and peak value PVmax adjusted in record and two steps adjacent to the phase of should adjusting are used, the formula of calculating system pid control parameter time institute foundation is P=(PVmax-PVmin)/A, I=B × t1 × t2/(t1+ t2), D=C × t1 × t2/(t1+ t2), wherein A, B, C are respectively controlled system fixed coefficient.
The automatic setting method of intelligent controller the most according to claim 3, it is characterized in that: the valley PVmin and peak value PVmax of record respectively adjust the 3rd step and the collection value of the 4th step of adjusting, accordingly, time t1 and t2 respectively adjusts the 3rd step and the time of the 4th whole process of step of adjusting.
null5. an intelligent controller，For realizing claim 1 to the automatic setting method of the intelligent controller according to any one of claim 3，Including controller circuitry and power supply thereof，It is characterized in that: described controller circuitry includes controlling processing module、And the key-press module electrically connected with control processing module respectively、Acquisition module、Display module、Memory、Control output module、First timer、Second timer sum counter，This industry signal is also sent to controlling processing module by described acquisition module collection industry signal，Control processing module the transmission of this collection value PV to be shown to display module，And enter to compare with system input desired value SV inputted by key-press module and deviation value (SV-m) by this collection value PV，According to comparative result，Control processing module and send dependent instruction to controlling output module，In tuning process，Counter records is adjusted step number，Described control processing module is according to the step number of adjusting of counter records，Control instruction is sent successively to described first timer and the second timing，Described first timer and the second timing record time t1 and t2 that the phase of adjusting adjacent two steps are used respectively，Control the valley PVmin and peak value PVmax of the system output wave that acquisition module is collected in adjacent two steps of above-mentioned phase of adjusting by processing module、And time t1 and t2 that two steps adjacent to the phase of should adjusting are used is stored in memory respectively，Control processing module by the valley PVmin collected in reading adjacent two steps in memory and peak value PVmax、And time t1 and t2 that this phase of adjusting adjacent two steps are used，Calculating system pid control parameter.
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| CN106227072A (en) * | 2016-08-31 | 2016-12-14 | 福建顺昌虹润精密仪器有限公司 | A kind of Intelligence Regulator and control method thereof |
| CN109062033A (en) * | 2018-10-19 | 2018-12-21 | 宁波市机电工业研究设计院有限公司 | A kind of methods of self-tuning of PID system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109828456A (en) * | 2019-03-04 | 2019-05-31 | 沈阳华控科技发展有限公司 | A kind of Adaptive PID Control method |
| CN109828456B (en) * | 2019-03-04 | 2022-02-01 | 沈阳华控科技发展有限公司 | Self-adaptive PID control method |
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